应用介绍

Micopython视觉识别

pyb中定义io，输出高低电平，采用二进制编码，下位机读取对应的引脚电平，执行函数

OpenMv与Arduino串口通信，会出现乱码，不稳定的现象。

import sensor, image, time, pyb, math

#from pyb import UART

p1 = pyb.Pin("P1", pyb.Pin.OUT_PP)

p2 = pyb.Pin("P2", pyb.Pin.OUT_PP)

p3 = pyb.Pin("P3", pyb.Pin.OUT_PP)

p4 = pyb.Pin("P4", pyb.Pin.OUT_PP)

red_threshold = (30, 86, 28, 97, -47, 92)

green_threshold  = (45, 97, -88, -25, -69, 96)

blue_threshold  = (74, 90, -29, 5, -59, -4)

sensor.reset()

sensor.set_pixformat(sensor.RGB565)

sensor.set_framesize(sensor.QVGA)

sensor.skip_frames(time = 2000)

sensor.set_auto_gain(False) # must be turned off for color tracking

sensor.set_auto_whitebal(False) # must be turned off for color tracking

clock = time.clock()

#uart = UART(3,9600)

def find_max(blobs):

    max_size=0

    for blob in blobs:

        if blob[2]*blob[3] > max_size:

            max_blob=blob

            max_size = blob[2]*blob[3]

        return max_blob

def find_maxsize(size1,size2,size3):

    if size1>size2:

        if size1>size3:

            return 1

        else :

            return 3

    else :

        if size2>size3:

            return 2

        elif size3>size2 :

            return 3

size11=0

size21=0

size31=0

while(True):

    clock.tick()

    img = sensor.snapshot()

    #lens_corr(1.8)畸变矫正

    blob1=img.find_blobs([red_threshold], pixels_threshold=700, area_threshold=700,merge=True)

    if blob1:

        max_blob1=find_max(blob1)

        size11=max_blob1[2]*max_blob1[3]

    blob2=img.find_blobs([green_threshold], pixels_threshold=700, area_threshold=700,merge=True)

    if blob2:

        max_blob2=find_max(blob2)

        size21=max_blob2[2]*max_blob2[3]

    blob3=img.find_blobs([blue_threshold], pixels_threshold=700, area_threshold=700,merge=True)

    if blob3:

        max_blob3=find_max(blob3)

        size31=max_blob3[2]*max_blob3[3]

    num=find_maxsize(size11,size21,size31)

    if num==1:

        img.draw_cross(max_blob1.cx(), max_blob1.cy(),color = (176,48,96))

        p1.low()

        p2.low()

        p3.high()

        print('1')

    elif num==2:

        img.draw_cross(max_blob2.cx(), max_blob2.cy(),color = (34,139,34))

        p1.low()

        p2.high()

        p3.low()

        print('2')

    elif num==3:

        img.draw_cross(max_blob3.cx(), max_blob3.cy(),color = (0,0,128))

        p1.low()

        p2.high()

        p3.high()

        print('3')

    #uart.write('\n')

    #print(clock.fps())

。。。。。。。想了解详情请下载附件